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Make angle computation work in 3D

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This commit is contained in:
Benau 2016-09-13 12:49:30 +08:00
parent 3f86722181
commit 4574686c1d
3 changed files with 27 additions and 21 deletions
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16
src/karts/controller/ai_base_controller.cpp
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@ -86,9 +86,7 @@ float AIBaseController::steerToPoint(const Vec3 &point)
// First translate and rotate the point the AI is aiming
// at into the kart's local coordinate system.
Vec3 lc;
btTransform trans = m_kart->getTrans().inverse();
lc = trans(point);
Vec3 lc = m_kart->getTrans().inverse()(point);
// The point the kart is aiming at can be reached 'incorrectly' if the
// point is below the y=x line: Instead of aiming at that point directly
@ -287,10 +285,10 @@ void AIBaseController::checkPosition(const Vec3 &point, posData *pos_data,
Vec3 *lc, bool use_front_xyz) const
{
// Convert to local coordinates from the point of view of current kart
btQuaternion q(btVector3(0, 1, 0), -m_kart->getHeading());
Vec3 p = point -
(use_front_xyz ? m_kart->getFrontXYZ() : m_kart->getXYZ());
Vec3 local_coordinates = quatRotate(q, p);
btTransform t;
t.setBasis(m_kart->getTrans().getBasis());
t.setOrigin(use_front_xyz ? m_kart->getFrontXYZ() : m_kart->getXYZ());
Vec3 local_coordinates = t.inverse()(point);
// Save local coordinates for later use if needed
if (lc) *lc = local_coordinates;
@ -308,8 +306,8 @@ void AIBaseController::checkPosition(const Vec3 &point, posData *pos_data,
else
pos_data->behind = false;
pos_data->angle = atan2(fabsf(local_coordinates.getX()),
pos_data->angle = atan2f(fabsf(local_coordinates.getX()),
fabsf(local_coordinates.getZ()));
pos_data->distance = p.length();
pos_data->distance = local_coordinates.length();
} // checkPosition

16
src/karts/controller/skidding_ai.cpp
View File

@ -1330,15 +1330,19 @@ void SkiddingAI::handleItems(const float dt)
bool straight_ahead = false;
if (m_kart_behind)
{
posData behind_pos = {0};
checkPosition(m_kart_behind->getXYZ(), &behind_pos);
if (behind_pos.angle < 0.2f) straight_behind = true;
Vec3 behind_lc = m_kart->getTrans().inverse()
(m_kart_behind->getXYZ());
const float abs_angle =
atan2f(fabsf(behind_lc.x()), fabsf(behind_lc.z()));
if (abs_angle < 0.2f) straight_behind = true;
}
if (m_kart_ahead)
{
posData ahead_pos = {0};
checkPosition(m_kart_ahead->getXYZ(), &ahead_pos);
if (ahead_pos.angle < 0.2f) straight_ahead = true;
Vec3 ahead_lc = m_kart->getTrans().inverse()
(m_kart_ahead->getXYZ());
const float abs_angle =
atan2f(fabsf(ahead_lc.x()), fabsf(ahead_lc.z()));
if (abs_angle < 0.2f) straight_ahead = true;
}
// Bowling balls are slower, so only fire on closer karts - but when

16
src/karts/controller/test_ai.cpp
View File

@ -1336,15 +1336,19 @@ void SkiddingAI::handleItems(const float dt)
bool straight_ahead = false;
if (m_kart_behind)
{
posData behind_pos = {0};
checkPosition(m_kart_behind->getXYZ(), &behind_pos);
if (behind_pos.angle < 0.2f) straight_behind = true;
Vec3 behind_lc = m_kart->getTrans().inverse()
(m_kart_behind->getXYZ());
const float abs_angle =
atan2f(fabsf(behind_lc.x()), fabsf(behind_lc.z()));
if (abs_angle < 0.2f) straight_behind = true;
}
if (m_kart_ahead)
{
posData ahead_pos = {0};
checkPosition(m_kart_ahead->getXYZ(), &ahead_pos);
if (ahead_pos.angle < 0.2f) straight_ahead = true;
Vec3 ahead_lc = m_kart->getTrans().inverse()
(m_kart_ahead->getXYZ());
const float abs_angle =
atan2f(fabsf(ahead_lc.x()), fabsf(ahead_lc.z()));
if (abs_angle < 0.2f) straight_ahead = true;
}
// Bowling balls are slower, so only fire on closer karts - but when